相关论文: Robust Feature-Based Point Registration Using Dire…

Point cloud registration is a fundamental problem in 3D computer vision, graphics and robotics. For the last few decades, existing registration algorithms have struggled in situations with large transformations, noise, and time constraints.…

We propose a methodology for robust, real-time place recognition using an imaging lidar, which yields image-quality high-resolution 3D point clouds. Utilizing the intensity readings of an imaging lidar, we project the point cloud and obtain…

Point set registration is an essential step in many computer vision applications, such as 3D reconstruction and SLAM. Although there exist many registration algorithms for different purposes, however, this topic is still challenging due to…

This paper addresses the issue of matching rigid 3D object points with 2D image points through point registration based on maximum likelihood principle in computer simulated images. Perspective projection is necessary when transforming 3D…

Point cloud registration is a key problem for computer vision applied to robotics, medical imaging, and other applications. This problem involves finding a rigid transformation from one point cloud into another so that they align. Iterative…

Point Cloud Registration (PCR) is a fundamental and significant issue in photogrammetry and remote sensing, aiming to seek the optimal rigid transformation between sets of points. Achieving efficient and precise PCR poses a considerable…

This work addresses the problem of point cloud registration using deep neural networks. We propose an approach to predict the alignment between two point clouds with overlapping data content, but displaced origins. Such point clouds…

Matching cross-modality features between images and point clouds is a fundamental problem for image-to-point cloud registration. However, due to the modality difference between images and points, it is difficult to learn robust and…

We present a fast feature-metric point cloud registration framework, which enforces the optimisation of registration by minimising a feature-metric projection error without correspondences. The advantage of the feature-metric projection…

In this paper, we adopt the Universal Manifold Embedding (UME) framework for the estimation of rigid transformations and extend it, so that it can accommodate scenarios involving partial overlap and differently sampled point clouds. UME is…

Feature descriptors of point clouds are used in several applications, such as registration and part segmentation of 3D point clouds. Learning discriminative representations of local geometric features is unquestionably the most important…

Point cloud registration is the process of aligning a pair of point sets via searching for a geometric transformation. Unlike classical optimization-based methods, recent learning-based methods leverage the power of deep learning for…

Point cloud registration is a fundamental problem in computer vision that aims to estimate the transformation between corresponding sets of points. Non-rigid registration, in particular, involves addressing challenges including various…

We present a novel differential matching algorithm for 3D point cloud registration. Instead of only optimizing the feature extractor for a matching algorithm, we propose a learning-based matching module optimized to the jointly-trained…

Learning-based point cloud registration methods can handle clean point clouds well, while it is still challenging to generalize to noisy, partial, and density-varying point clouds. To this end, we propose a novel point cloud registration…

Point set registration is the process of finding the best alignment between two point sets, and it is a common task in different domains, especially in the automotive and mobile robotics domains. Lots of approaches are proposed in the…

Cross-modality registration between 2D images from cameras and 3D point clouds from LiDARs is a crucial task in computer vision and robotic. Previous methods estimate 2D-3D correspondences by matching point and pixel patterns learned by…

Point base registration is an important part in many machine VISIOn applications, medical diagnostics, agricultural studies etc. The goal of point set registration is to find correspondences between different data sets and estimate the…

Traditional algorithms of point set registration minimizing point-to-plane distances often achieve a better estimation of rigid transformation than those minimizing point-to-point distances. Nevertheless, recent deep-learning-based methods…

How to extract significant point cloud features and estimate the pose between them remains a challenging question, due to the inherent lack of structure and ambiguous order permutation of point clouds. Despite significant improvements in…